643197-01 DeviceNet Manual en

DeviceNet
MANUAL / USERS GUIDE

DeviceNet
USER MANUAL www.leinelinde.com
Contents
1 GENERAL INFORMATION 5
1.1 ABSOLUTE ENCODERS 5
1.2 APPLICABILITY OF MANUAL 5
1.3 DEVICENET TECHNOLOGY 5
1.4 ABOUT LEINE &LINDE AB 6
1.4.1 Technical and commercial support 6
1.4.2 Certification of fieldbus products 6
1.5 REFERENCES 7
1.6 ABBREVIATIONS 7
2 ENCODER INSTALLATION 8
2.1 SETTINGS INSIDE THE ENCODER 8
2.2 NODE ADDRESS/MAC ID 8
2.3 BUS TERMINATION 8
2.4 BAUDRATE SETTING 9
2.5 CONNECTING THE ENCODER 9
2.5.1 Power supply 9
2.5.2 BUS lines 9
2.5.3 Shielding philosophy 10
2.6 EDS FILE 10
2.7 LED INDICATION 11
2.7.1 Module LED 11
2.7.2 Network LED 11
3 PROFILE OVERVIEW 12
4 ENCODER FUNCTIONALITY 13
4.1 BASIC ENCODER FUNCTIONALITY 13
4.2 DEVICENET FUNCTIONALITY SUPPORTED 13
4.3 DEVICENET ADOPTION OF CAN IDENTIFIERS 14
4.4 ASSEMBLY INSTANCES 14
4.5 POSITION SENSOR OBJECT (0X23HEX) 15
4.5.1 Position value 16
4.5.2 Position sensor type 16
4.5.3 Code sequence 16
4.5.4 Commissioning diagnostic control 16
4.5.5 Scaling function 16
4.5.6 Position format 18
4.5.7 Preset, zero-set and offset value 18
Leine & Linde AB 4.5.8 COS/delta 18
T +46-(0)152-265 00 4.5.9 Position limits 19
F +46-(0)152-265 05 4.5.10 Velocity 19
info@leinelinde.com 4.5.11 Operating status 19
www.leinelinde.com 4.5.12 Measuring range 19
4.5.13 Alarms 19
4.5.14 Warnings 20
Publication date: 2015-06-01
4.5.15 Operating time 20
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DeviceNet DeviceNet
USER MANUAL www.leinelinde.com USER MANUAL www.leinelinde.com
5 ENCODER COMMISSIONING EXAMPLE 21 1 General information

6 REVISION HISTORY 23
1.1 Absolute Encoders
With an absolute encoder each angular position is assigned a coded position value generated by a code disc
equipped with several parallel fine graduations tracks which are scanned individually. On singleturn encoders,
i.e. an encoder producing absolute positions within one revolution, the absolute position information repeats
itself with every revolution. A multiturn encoder can also distinguish between revolutions. The number of
unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total
resolution is reached.
1.2 Applicability of manual

This product manual is applicable to Leine & Linde absolute encoders within the following encoder series.
RSA 607 ISA 607 ISA 637 ISA 647
RSA 608 ISA 608 ISA 638 ISA 648
RHA 607 IHA 607 IHA 637 IHA 647
RHA 608 IHA 608 IHA 638 IHA 648
Leine & Linde is a company that often customizes the product to fi t individual requirements of our customers.
Such customized products may therefore not be fully compliant with the descriptions in this product manual.
Customized encoder devices are indicated by their type label, and marked 69X where the “9” digit in the second
position indicates that the device has some customized parameters. Encoder series with the following name
and type plate information may therefore have deviating functional performance.
RSA 697 ISA 697
RSA 698 ISA 698
RHA 697 IHA 697
RHA 698 IHA 698
If your product is of the type mentioned above, contact Leine & Linde to obtain the product’s complete
functional description.
1.3 DeviceNet technology

DeviceNet is a lowlevel network that provides connections between simple industrial devices (sensors, actuators)
and higher level devices (controllers). DeviceNet provides Master/Slave and Peer-to-Peer capabilities over the
CAN bus.
DeviceNet has two primary purposes:

• Transport of controloriented information associated with low level devices
• Transport of other information, which is indirectly related to the system being controlled,
such as configuration parameters.
DeviceNet makes use of abstract object modelling to describe:

• The suite of communication services available
• The externally visible behaviour of a DeviceNet node
• A common means by which information within DeviceNet products is accessed and exchanged.
Leine & Linde AB claims copyright on this documentation. This documentation may not be modified,
extended or passed onto to a third party and/or copied without written approval from Leine & Linde AB. A DeviceNet node is modelled as a collection of objects. An object provides an abstract representation of
a particular component within a product. The realization of this abstract object model within a product is
Specifications and content in this document are subject to change without prior notice due to our continuous implementation dependent. In other words, a product internally maps this object model in a fashion specific
efforts to improve the functionality and performance of our products. to its implementation.
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DeviceNet DeviceNet
Based on the encoder profile, see chapter 3, the following objects are implemented in the
Leine &Linde integrated encoder:
1.5 References
• Identity Object. Provides identification and general information about the device.
http://www.odva.org ODVA
In addition the Identity object includes the reset function.
ODVA DeviceNet Specification 2.0 ODVA
• Message Router. The Message Router Object provides a messaging connection point through which a
Statement of Conformance Leine & Linde AB
client may address a service to any object class or instance residing in the physical device.
Encoder Profile Revision 2 ODVA/Leine & Linde AB
• Connection Class Object. Provides the configuration and status of a poll connection port.
Encoder EDS-file Leine & Linde AB
• DeviceNet Object. Provides the configuration and status of a DeviceNet port.
• Assembly Object. Binds attributes of multiple objects, which allows data to or from each object to be
sent or received over a single connection. By addressing different instances of the Assembly object,
different collections of data are returned in each poll cycle.
1.6 Abbreviations
• Position Sensor Object. Provides the configuration and status of the Encoder.
CAN Controller Area Network
• Acknowledge Object. Used to manage the reception of message acknowledgments. This object
CiA CAN in Automation
communicates with a message producing Application Object within a device. The Acknowledge Handler
CAL CAN Application Layer
Object notifies the producing application of acknowledge reception, acknowledge timeouts, and
EDS Electronic Data Sheet
production retry limit.
DCF Device Configuration File
MAC Media Access Control
1.4 About Leine &Linde AB
For more than 40 years the Swedish based company Leine & Linde has concentrated on one thing – develop-
ment and manufacturing of advanced encoders that meet the most rigorous demands. That is why a wide
selection of incremental and absolute encoders with obvious concentration on robust products and quality
down to the last detail can be offered. Leine & Linde encoders provide the utmost in reliability year after year,
in working conditions where vibration, dirt, cold and other harsh environments are common.
Leine & Linde can meet very specific individual customer demands. The encoders are easily adapted, due to a
modular design, to the customer’s exact need with respect to resolution, electrical connections and interfaces,
casings, etc. That is due to the fact that tomorrow’s technology already is used today in Leine & Linde’s product
lines. Leine & Linde concentrate on advanced development of intelligent encoders with integrated ASICs, new
special features and with adaptations to different fieldbus systems such as DeviceNet. This enables us to meet
the need for increasingly effective and dependable machines and automation to an even higher degree.
1.4.1 Technical and commercial support

Leine &Linde are represented by subsidiaries in many countries around the world. In addition, there are many
services agencies and distributors located worldwide ready to reply to commercial enquires or technical support.
For more contact information, please visit our web site or contact Leine &Linde in Strängnäs, Sweden.
Leine &Linde AB
Box 8
SE-645 21 Strängnäs, Sweden
Tel: +46-(0)152-265 00
Fax: +46-(0)152-265 05
E-mail: info@leinelinde.com
Web: www.leinelinde.com
1.4.2 Certification of fieldbus products

In order to achieve interoperability between vendors and appropriate device functionality Leine &Linde AB
continuously strives to have all fieldbus products certified by external bodies. For questions regarding certification
or conformance tests of specific products please visit our web site or contact Leine & Linde in Strängnäs, Sweden.
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DeviceNet DeviceNet
2 Encoder Installation 2.4 Baudrate setting

The Leine & Linde integrated DeviceNet encoder makes use of auto baud rate algorithm to set the baud rate.
2.1 Settings inside the encoder The baud rate is detected at power on. To be able to detect the baud rate the encoder must be commissioned
on a network having at least one other node communicating with defined baudrate, i.e. before power on the
The encoder node address and bus termination must be configured during commissioning of the device. encoder make sure that there is network traffic.
This is done by removing the back cover and screw off the three screws at the rear of the encoder.
2.5 Connecting the encoder
2.5.1 Power supply

Screw terminal for bus
The power supply connection of M12 equipped encoders is included in the BUS In/Out connection.
and power supply
connection
The cable gland encoders should always, in case of separate power supply cable, be equipped with a shielded
power supply cable with conductor area between 0,34mm2 to 1.5mm2. Permissible outer cable diameter is
Node address switches
ø8mm to ø10mm. Located inside the back cover are two screw terminals containing the required power supply
Zero-set button terminals marked (+) and (-).
The (+) terminal shall be used to connect the +EV-line (9-36Vdc).

The (-) terminal shall be used to connect the 0V-line.
2.5.2 BUS lines

The DeviceNet bus line connections of the M12 equipped encoder are constituted by a male A-coded 5 pin
M12 connector (bus in), and a female A-coded 5 pin M12 connector (bus out).
Bus in/out- lines M12 version

Figure 1 PCB-view of a cable gland DeviceNet encoder
Function Pin
Bus out Bus in
2.2 Node address/MAC ID CAN shield 1
+E V 2
The node address or MAC ID of the device can be set using two decimal rotary switches located inside the
back cover. The weighting, x10 and x1 are specified beside the switches. Permissible address range is between 0V 3
1 and 63 but the lower addresses 0 to 2 are usually used by the master and not recommended to be used by
CAN_H 4
the device. The device address is read and adopted when the encoder power supply is switched on, i.e. a power
off and On is required in order to adopt changes done to the address settings. The node address or MAC ID is CAN_L 5
adopted and used to generate the CAN message identifier, see chapter 4.3
Figure 2 Orientation of M12 bus connectors Table 1 Pinning bus in/out- lines M12 version
2.3 Bus termination The cable gland encoders shall be equipped with twisted pair shielded cable in accordance with DeviceNet.
The guidelines recommend a conductor area higher than 0,34mm2. Permissible outer cable diameter is ø8mm
In a DeviceNet network, all devices are connected in a bus structure. Up to 32 devices (master and/or slaves)
to ø10mm. Located inside the back cover are six screw terminals containing the required bus line terminals
can be connected in one segment. When more devices are needed repeaters should be used to amplify the
marked H, L and G.
signals between segments. Generally a DeviceNet network is of trunk-line characteristics were drop-lines are
used for connecting devices on the bus. As a consequence termination is normally done in each end of the
The (H) terminal shall be connected to CAN_H line.
trunk-line. Based on this bus topology the Leine & Linde encoder doesn’t enable the possibility to set active
The (L) terminal shall be connected to CAN_L line.
termination.
The (G) terminal shall not be connected.
Note: If, for some reason, termination is required the encoder variants with M12 connectors can make
Note: The two H and L-terminals are internally connected to each other, i.e. it does not matter to which pair
use of the standard M12 termination plugs normally supplied for DeviceNet networks.
the bus lines are connected to.
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DeviceNet DeviceNet
2.5.3 Shielding philosophy 2.7 LED indication

In order to determine the status of the encoder two LED’s are visible from the rear end of the encoder. The
module LED indicates status of the encoder itself. The network status LED shows the encoder status on the
network. The LED’s can be constantly on, off and flashing. Flashing means on for 200 mS, off for 200 mS, on
for 200 mS continuing.
Note: Encoder models ISA/IHA 647/678 are not equipped with LEDS. Therefore the LED indication tables
below are not applicable for these models.
Figure 3 Cable assembling principal
2.7.1 Module LED
To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus
and power supply cables shall always be shielded. The screen should be connected to ground on both ends of The module status LED is a bicolor LED with functionality as below.
the cable. In certain cases compensation current might flow over the screen. Therefore a potential compensation
wire is recommended. Module LED Indication
Off No power
2.6 EDS file Green Device operational
Red Unrecoverable fault

An EDS-file is available for download at our homepage, www.leinelinde.se . Due to Leine & Linde’s constant
drive to support our customer with the latest updates of encoder functionality it is recommended to consult Flashing Green Device in standby, commissioning incomplete
Leine & Linde representative for the latest releases.
Flashing Red Minor fault, the encoder indicates alarm
The EDS file describes:
• The communication functionality and objects as defined in the DeviceNet communication profile. Table 2 Module LED indication
• The device specific objects as defined in the Encoder Profile.
• Manufacturer specific objects.
2.7.2 Network LED
The EDS file serves as a template for different configurations of one device type. A DCF-file is generated from The network status LED is a bicolor LED with functionality as below.
the EDS-file describing a specific configuration of the device including object values and module-Id.
Network LED Indication
Note: The EDS Installation procedure depends on your configuration tool;
please consult your tool supplier if problems occur. Off No power, Device not online
Green Device On-line on the network
Red Communication failure
Flashing Green Device is On-line but has no connections in the established state
Flashing Red One or more I/O connections are in timed-out state
Table 3 Status LED indication
When the encoder is on error free communication in on-line state both the module and the status LED should
shown green.
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DeviceNet DeviceNet
3 Profile overview 4 Encoder functionality

The Encoder Profile defines the functionality of encoders connected to the DeviceNet network. In the encoder The functionality of the encoder can be divided into basic encoder functionality, describing how the physical
profile all Objects used from DeviceNet Object library is defined and described. The profile describes the services position is transformed to a DeviceNet position value and DeviceNet functionality relating to functions, objects
available for reading position, scaling of position value and other useful info. For further information please see and attributes.
the Encoder Profile specification
4.1 Basic encoder functionality

The figure below gives an overview of the basic encoder functions and how the functionality is conduced
within the encoder.
Physical position
Code sequence
Basic funtion Singleturn resolution
Number of distinguishable revolutions
Absolute position
Measuring units per revolution
Scaling function Total measuring range in measuring units
Scaling function control/status
Preset value
Preset function
Offset value
Output position value
Figure 4 Basic encoder functionality
4.2 DeviceNet functionality supported

The Leine &Linde DeviceNet encoder supports the predefined Master/Slave connection set (group 2 only server).
For retrieving position and/or velocity value basically two principals exists, either use the Position Sensor object
or to allocate a poll channel. A poll channel returns the active assembly object instance, see chapter 4.4. The
advantage to use a poll channel instead of the position sensor object is that different poll allocation modes are
possible, i.e. also more data then position/velocity can be retrieved on a single request. For reading position/
velocity data, the following allocation modes are supported:
• Poll I/O Connection. When the master sends a poll request, the encoder immediately returns a poll
response holding the latest calculated position value (returns the active assembly instance).
• Bit–Strobe I/O Connection. When sent by a master, all units affected (multi cast) respond with a
bitstrobe response (returns the active assembly instance). This can be used to get a synchronised
reading. Remember that the CAN-bus always priorities the node with the lowest address to send
data before a node with higher address.
• Change of State. Returns a change of state response (returns the active assembly instance), when a
change of data in the assembly is detected or a max timeout have occurred. Use the COS/delta attribute
in the Position Sensor object to specify the number of position steps that must occur before a Change
of State response is triggered. If e.g. the value 100 is used, the position value must be 100 steps larger
or smaller compared to the position value last reported to the master before a new Change of State is
triggered. Change of state can not be combined with Cyclic I/O Connection.
• Cyclic I/O Connection. Returns a Cyclic I/O response (returns the active assembly instance), when the
specified periodic time has occurred. Cyclic I/O connection can not be combined with Change of State.
To specify which assembly instance that should be active when a poll response is returned, use the
‘Set produced connection path’ attribute of the Connection Class object.
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DeviceNet DeviceNet
4.3 DeviceNet adoption of CAN identifiers 4.5 Position Sensor object (0x23hex)
The DeviceNet communication has adopted the 11 identifier bits. They are subdivided into four separate The position sensor object supports the following attributes.
message groups; Group 1, Group 2, Group 3 and Group 4.
Attribute Attribute name Data type
Identifier Bits Hex Range Identity Usage 3 Position Value (Scaled) UDINT
10 9 8 7 6 5 4 3 2 1 0 10 Position Value (Unscaled) DINT
0 Group 1 Source MAC ID 0x000 – 0x3FF Message Group 1 11 Position sensor type UINT
Message ID 12 Code sequence BOOL
1 0 MAC ID Group 2 0x400 – 0x5FF Message Group 2
13 Commissioning diagnostic control BOOL
Message ID
14 Scaling function control BOOL
1 1 Group 3 Source MAC ID 0x600 – 0x7BF Message Group 3
Message ID 15 Position format ENGUNITS
1 1 1 1 1 Group 4 Message ID 0x7C0 – 0x7EF Message Group 4 16 Measuring units per revolution UDINT
1 1 1 1 1 1 1 X X X X 0x7F0 – 0x7FF Invalid CAN ID’s 17 Total measuring range in measuring units UDINT
18 Position measuring step UDINT
Table 4 CAN identifier 19 Preset value DINT
• Message ID – Identifies a message within a Message Group inside a particular endpoint. 20 COS/delta UDINT
• Source MAC ID – The MAC ID assigned to the transmitting node. 21 Work area state register BYTE
• Destination MAC ID – The MAC ID assigned to the receiving device. Message Group 2 allows the
22 Work area low limit DINT
specification of either Source or Destination within the MAC ID portion of the CAN Identifier Field.
23 Work area high limit DINT
The MAC ID uses 6 bits, which makes it possible to have 0-63 node addresses. Address 0 is not allowed.
24 Velocity value DINT
The Leine &Linde encoder uses Message Group 2.
25 Velocity format ENGUNITS
26 Velocity Resolution UDINT
4.4 Assembly instances
41 Operating status BYTE
The Leine &Linde encoder supports three assembly instances. 42 Physical resolution UDINT
43 Number of distinguishable revolutions UINT
Byte Instance 1 Instance 2 Instance 3
44 Alarms WORD
0 Position Data (Low byte) Position Data (Low byte) Position Data (Low byte) 45 Supported alarms WORD
1 Position Data Position Data Position Data 46 Alarm flag BOOL
2 Position Data Position Data Position Data 47 Warnings WORD

48 Supported warnings WORD
3 Position Data (High byte) Position Data (High byte) Position Data (High byte)
49 Warning flag BOOL
4 Bit 7-2 Bit 1 Bit 0 Velocity value (Low byte)
Unused Warning Alarm Flag 50 Operating time UDINT
5 Velocity value 51 Offset value DINT

BOOL and BYTE = 1 byte, WORD,UINT and ENGUNITS = 2 byte UDINT and DINT = 4 byte
6 Velocity value
7 Velocity value (High byte) Table 6 Position sensor object
Table 5 Assembly instances Note: The ‘Data Type’ Engineering Units (ENGUNITS) might not be common knowledge.
For a description of how it works, please see Appendix K-2.30 in the DeviceNet Specification.
The remaining part of this chapter describes the majority of the attributes in the position sensor object.
If more extensive explanation is required please advise the DeviceNet specification.
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4.5.1 Position value Byte 3 2 1 0

Attribute 10 corresponds to the position data, un-scaled, i.e. the raw position data of the encoder. Attribute 3, Bits 31 - 24 23 - 16 15 - 8 7 - 0
position data scaled, is conditioned by the scaling attributes and the preset control.
Data 231 - 224 223 - 216 215 - 28 27 - 20
4.5.2 Position sensor type Attribute 17 - Total measuring range in measuring units
The position sensor type attribute can either have value 01, singleturn encoder, or 02, multiturn encoder
Table 8 Total measuring range attribute format
depending on encoder model commissioned.
The encoder has two different operating modes depending on the specified measuring range. If the scaling is
4.5.3 Code sequence binary the encoder enter operation mode A, cyclic operation, and if the scaling value is non-binary the encoder
enters operation mode B, non cyclic operation.
The code sequence defines whether increasing or decreasing position values are outputted when the encoder
shaft rotates clockwise (CW) or counterclockwise (CCW) as seen from shaft end. If attribute 12 is defined as
“0”, clockwise (CW) the position value will increase when the shaft is turned clockwise seen from shaft end. A. CYCLIC OPERATION (Binary scaling)
In contrary “1”, counter clockwise (CCW) will give increasing values when turning the shaft counter clockwise. Used when operating with 2X number of turns (2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048 and 4096 number of
turns). If the desired measuring range is equal to the specified singleturn resolution * 2X (where x <= 12) the
encoder operates in endless cyclic operation (0 - max - 0 - max ...). For example: If the position value increases
4.5.4 Commissioning diagnostic control above the maximum value (measuring range-1) by rotating the encoder beyond the maximum value the en-
The commissioning diagnostic control attribute enables internal encoder diagnostics function. If this attribute coder continues from 0.
is set to “1” the diagnostics is enabled and the actual status is presented in the alarm attribute 44.
Example of a cyclic scaling:
Measuring units per revolution = 1000
4.5.5 Scaling function Total measuring range = 32000 (25 = 32 number of turns)
With the scaling function the encoder internal numerical value is converted in software to change the physical
resolution of the encoder. The scaling function control attribute 14 enables the scaling attributes to affect the
position value. If this attribute is set to “1” (ON) the scaling attributes (16 and 17) affects the outputted position
value. Attribute 16 defines the singleturn resolution, i.e. the number of measuring units per revolution. Attribute
17 defines the total measuring range in measuring units, i.e. singleturn time’s multiturn resolution.
Note: When scaling a multiturn encoder the parameter “Measuring units per revolution” must be sent
before the parameter “Total measuring range in measuring units”.
Figure 5 Cyclic scaling
The data type for both scaling attributes is unsigned 32 with a value range from 1 to 232 limited by the encoder
resolution. For a 25 bit encoder with a singleturn resolution of 13 bits the permissible value for the ”Measur-
ing units per revolution” is between 1 and 213 (8192) and for the ”Total measuring range in measuring units” the B. NON CYCLIC OPERATION
permissible value is between 1 and 225 (33 554 432). The scaling attributes are securely stored in case of voltage If the measuring range is used to limit the encoder value range to a value not equal to the specified singleturn
breakdown and reloaded at each start-up. resolution * 2X the output position value is limited within the operating range. If the position value increases
or decreases outside the measuring range by rotating the encoder beyond the maximum value (measuring
range-1) or below 0 the encoder outputs the total measuring range value.
Byte 3 2 1 0
Bits 31 - 24 23 - 16 15 - 8 7 - 0 Example of a non-cyclic scaling:

Measuring units per revolution = 100
Data 231 - 224 223 - 216 215 - 28 27 - 20 Total measuring range = 5000 (50 number of turns)
Attribute 16 - Measuring units per revolution
Table 7 Singleturn scaling attribute format
Figure 6 Non-cyclic scaling
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DeviceNet DeviceNet
The scaling function used in the DeviceNet encoder is limited to a singleturn resolution within one step. 4.5.9 Position limits
After downloading new scaling attributes the preset function should be used to set the encoder starting point.
Using the attributes 22-23 a work area can be defined, i.e. high and low limit value. In attribute 21 the status of
Note: Changing the scaling function attributes should only be used at encoder standstill. the work area is presented. Whenever the actual position value is out of range bit 0 of the state register is set.
Bit 1 and 2 indicates weather an under or over flow is detected.
In the following formula a 25 bit multiturn encoder with a singleturn resolution of 13 bits is used as
an example. Formula for the multiturn scaling function: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Reserved Reserved Reserved Reserved Range Range Out of

(singleturn_position x measuring_units_per_revolution)
A= underflow overflow range
8192
Table 9 Position state register
output_position = (revolution_number x measuring_units_per_revolution) + A
4.5.10 Velocity
Where: singleturn_position = the Absolute singleturn position value
revolution_number = the Absolute multiturn number Attribute 24 presents the velocity value of the encoder shaft. The resolution and unit of the represented
velocity value is stated by attribute 25 and 26. Attribute 25, velocity format, is a read/write attribute defining
the unit of the outputted velocity value. The attribute value 1F04hex, count/sec, is default but also DF0Fhex, RPM,
4.5.6 Position format and DF0Ehex, RPS, is accepted.
For the position format attribute only 1001h, i.e. counts, is valid as the device is a rotary encoder.
4.5.11 Operating status
4.5.7 Preset, zero-set and offset value This attribute basically contains status of the code sequence and scaling functionality. No vendor specific
status bits are implemented.
The preset value, attribute 19, supports adapting of a desired position value to an actual position value.
When a preset value is added to attribute 19 a preset to the position value is performed and an offset
value is calculated. Bit Description FALSE (0) TRUE (1)
Setup calculation: offset_value = preset_value – current_value 0 Code sequence Increasing Decreasing
1 Scaling Off On
The offset value is continuously added to the internal encoder position value resulting
in a position value continuously affected by the preset value. 2..4 Reserved by DeviceNet
Runtime calculation: output_position = current_position + offset_value 5..7 Vendor specific
The calculated offset value will remain constant (until the preset value is changed) and can be accessed in at- Table 10 Operating status
tribute 51 and is securely stored in case of voltage breakdown and reloaded at each start-up.
Note: The preset function should only be used at encoder standstill.

4.5.12 Measuring range
Attribute 42, singleturn resolution, and attribute 43, multiturn resolution, defines the physical resolution
Zero setting of the encoder can be done two folded. Using the preset attribute and set the preset value to zero of the encoder, i.e. the basic resolution of the encoder when scaling function is disabled.
makes a zero-set of the encoder. Also, if the zero set button, inside the back cover of the encoder, is pushed for
at least 1 second the position value will be set to zero.
4.5.13 Alarms
The encoder supports position error alarm according to the definition below.
4.5.8 COS/delta
The COS/delta attribute defines the number of position values that must be passed before a change of state
Bit Description FALSE (0) TRUE (1)
response is generated. If this value is set to 0 a COS response will be generated at every change in position value.
0 Position error NO YES
1 Diagnostic error NO YES
2..11 Reserved by DeviceNet
12..15 Vendor specific
Table 11 Alarms
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DeviceNet DeviceNet

5 Encoder commissioning example
0 Position error Not supported Supported
This example shows a simple setup of the encoder for cyclic transmission of the position value.
1 Diagnostic error Not supported Supported
2..11 Reserved by DeviceNet Note: Since commissioning is software tool dependent, the steps below must be adapted to the
specific tool in use. Also the example only shows how the scanner part is made.
1) Set the physical address (Node Number) of the encoder using the address switches.
Table 12 Supported alarms
2) Power up the encoder.
4.5.14 Warnings 3) In RSNetworx, click on the “go on-line” button to connect to the DeviceNet network.
The encoder supports warnings according to the definition below.
0 Frequency exceeded NO YES
1 Light control reserve Not reached Error
2 CPU watchdog OK Reset generated
3..10 For specific definition, see encoder profile
11..12 Reserved by CIP Always 0
Table 13 Warnings
Bit Description FALSE (0) TRUE (1) 4) The encoder will send a Boot-up message (Duplicate MAC message) when the baudrate is detected.
If no other node responds on the MAC request the encoder is online and waiting for a master to connect.
0 Frequency exceeded Not supported Supported
In case another node is responding the encoder enters offline and indicates accordingly on the LED’s.
1 Light control reserve Not supported Supported
5) Scan the network. When all expected units on the network have appeared, double-click the scanner
2 CPU watchdog Not supported Supported icon to bring up its property view.
3..10 For specific definition, see encoder profile Not supported Supported
11..12 Reserved by CIP Always 0
Table 14 Supported warnings
Note: Bit 1, light control reserve, is supported depending on encoder model;

please consult Leine &Linde for more information.
4.5.15 Operating time

The operating time attribute is read only and is incremented as long as the encoder is powered on. The
operating time is present as tenths (0.1) of an hour, i.e. attribute value 10 is equal to 1 hour operating time.
6) Select the Scanlist tab. All units added to the Scanlist will be polled by the scanner/PLC.
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DeviceNet DeviceNet
6 Revision history
Revision Date Changes
Rev. 1.0 2012-06-04 First release

Rev. 1.1 2012-12-05 Correction
Position Sensor object 0x23h
Rev. 1.2 2013-03-18 Correction
Position value
Rev. 2.0 2015-06-01 Addition of encoder models
Table 15 Revision history
7) Click the “>” button to add the encoder to the Scanlist
8) Select the Input tab.
9) Confirm the mapping of the encoder value in the PLC image file. Click OK to close the property page and
download the changes to the scanner device.
10) Now the scanner will gather all position data from all units in its scanlist and put in the image file.
22 23
The best encoders are those you never have to think
about. Those that simply do their job – year after year.
Leine & Linde develops and manufactures custom-
ised encoder solutions for demanding environments,
advanced measuring systems for accurate feedback
of speed and position.
Part no. 643197-01, ver. 2.0
+46-(0)152-265 00 www.leinelinde.com

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DeviceNet

MANUAL / USERS GUIDE

5 ENCODER COMMISSIONING EXAMPLE 21 1 General information

1.2 Applicability of manual

1.3 DeviceNet technology

DeviceNet has two primary purposes:

DeviceNet makes use of abstract object modelling to describe:

1.4.1 Technical and commercial support

1.4.2 Certification of fieldbus products

2 Encoder Installation 2.4 Baudrate setting

2.5 Connecting the encoder

2.5.1 Power supply

The (+) terminal shall be used to connect the +EV-line (9-36Vdc).

2.5.2 BUS lines

Bus in/out- lines M12 version

2.2 Node address/MAC ID CAN shield 1

2.5.3 Shielding philosophy 2.7 LED indication

2.6 EDS file Green Device operational

Red Unrecoverable fault

Green Device On-line on the network

Red Communication failure

Flashing Red One or more I/O connections are in timed-out state

Table 3 Status LED indication

3 Profile overview 4 Encoder functionality

4.1 Basic encoder functionality

Output position value

Figure 4 Basic encoder functionality

4.2 DeviceNet functionality supported

2 Position Data Position Data Position Data 47 Warnings WORD

5 Velocity value 51 Offset value DINT

7 Velocity value (High byte) Table 6 Position sensor object

4.5.1 Position value Byte 3 2 1 0

Bits 31 - 24 23 - 16 15 - 8 7 - 0 Example of a non-cyclic scaling:

Attribute 16 - Measuring units per revolution

Table 7 Singleturn scaling attribute format

Figure 6 Non-cyclic scaling

Reserved Reserved Reserved Reserved Reserved Range Range Out of

Setup calculation: offset_value = preset_value – current_value 0 Code sequence Increasing Decreasing

Runtime calculation: output_position = current_position + offset_value 5..7 Vendor specific

Note: The preset function should only be used at encoder standstill.

1 Diagnostic error NO YES

2..11 Reserved by DeviceNet

12..15 Vendor specific

Bit Description FALSE (0) TRUE (1)

Bit Description FALSE (0) TRUE (1)

0 Frequency exceeded NO YES

1 Light control reserve Not reached Error

2 CPU watchdog OK Reset generated

3..10 For specific definition, see encoder profile

11..12 Reserved by CIP Always 0

13..15 Vendor specific

11..12 Reserved by CIP Always 0

13..15 Vendor specific

Table 14 Supported warnings

Note: Bit 1, light control reserve, is supported depending on encoder model;

4.5.15 Operating time

Rev. 1.0 2012-06-04 First release

Table 15 Revision history

7) Click the “>” button to add the encoder to the Scanlist

8) Select the Input tab.

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